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Traditional robot controllers are not designed to produce human-like reactive motion—movements lasting tens of sample periods and requiring large accelerations. One of the major obstacles to producing reactive motions with contemporary controllers is that they rely on kinematic commands. The performance of short duration motions requiring large(More)
We present a calibration procedure to determine the kinematic parameters of an active stereo system in a robot-centric frame of reference. Our goal was to obtain a solution of sufficient accuracy that the kine-matic model information can be used to estimate scene structure given the measured motion/position of the eye and target object's image location. We(More)
This paper addresses the problem of recovering 3D geometry using an active stereo vision system. Calibration procedures can be adapted to the active stereo c on-guration, however, considerable eeort is required to accurately model and calibrate the kinematics to avoid poor reconstruction. In the active stereo c ase there will also be e r r ors due to(More)
This paper presents the design and development of an interactive system to accomplish the task of visually guided grasping. We focus on human-machine interaction. Our system provides the user with a simple graphical method to specify the task to the robot. This high level specification is translated into " visual-servo commands ". Experiments demonstrate(More)
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